loco-3d / slim_ros

Sl1m ROS

This is a ROS wrapper around the sl1m package.

Build the package to install it

Clone the repository in your catkin workspace and then do catkin build

Run demo

There is a demo self contained roslaunch allowing you to optimize a trajectory for a simple biped robot from:

• Left foot pose: [-0.2, 0.1, 0.0]
• Right foot pose: [-0.2, -0.1, 0.0] to:
• Left foot pose: [0.3, 0.1, 0.0]
• Right foot pose: [0.3, -0.1, 0.0] In 4 steps.

source install/setup.bash
roslaunch sl1m_ros demo_sl1m_ros.launch